省自由度2足歩行ロボットにおける姿勢制御に関する研究

―脚車輪ハイブリッド移動の実現―

抄録

This paper reports motor control for running and walking of "YANBO - II",which is a bipedal robot with reduced degrees of freedom. YANBO - II is composed of eight degrees of freedom, three degrees of freedom for determining position in space, three degrees of freedom for determining posture, and two degrees of freedom to control the center of gravity within the support area on the foot. In addition, YANBO - II is equipped with an infinite rotation motor on the soles of the feet, and running by using the sole as a wheel is possible. Proportional control of the joint motor to make the YANBO-II walk and the implementation of running and walking will be explained.